Apparatus for mapping an object includes an illumination assembly (30, 50), which includes a single transparency (36) containing a fixed pattern (60, 70, 80) of spots. A light source (34, 52) transilluminates the single transparency with optical radiation so as to project the pattern onto the object (28). An image capture assembly (32) captures an image of the pattern that is projected onto the object using the single transparency. A processor (24) processes the image captured by the image capture assembly so as to reconstruct a three-dimensional (3D) map of the object.
Legal claims defining the scope of protection. Each claim is shown in both the original legal language and a plain English translation.
1. Apparatus for mapping an object, comprising: an illumination assembly, comprising: a transparency containing a plurality of micro-lenses arranged in a non-uniform pattern; a light source, which is configured to transilluminate the transparency with optical radiation, wherein the micro-lenses are configured to focus the optical radiation to form, at a focal plane, respective focal spots in the non-uniform pattern; and optics configured to project the non-uniform pattern of the focal spots from the focal plane onto the object; an image capture assembly, which is configured to capture an image of the pattern that is projected onto the object using the transparency; and a processor, which is coupled to process the image captured by the image capture assembly so as to reconstruct a three-dimensional (3D) map of the object, wherein the processor is arranged to derive the 3D map by finding respective offsets between the pattern of the spots on multiple areas of the object captured in the image of the pattern that is projected onto the object and another image of the pattern, wherein the respective offsets are indicative of respective distances between the areas and the image capture assembly.
This 3D mapping apparatus projects a non-uniform pattern of spots onto an object and captures an image of the distorted pattern. It uses an illumination assembly with a transparency containing micro-lenses arranged in a non-uniform pattern. A light source shines through the transparency, and the micro-lenses focus the light to create focal spots. Optics then project this spot pattern onto the object. An image capture assembly (camera) captures the projected pattern. A processor analyzes the captured image to create a 3D map by finding offsets (shifts) in the spot pattern across different areas of the object compared to a reference image of the undistorted pattern. These offsets indicate the distances between the object's surfaces and the camera.
2. The apparatus according to claim 1 , wherein at least some of the micro-lenses have non-uniform focal lengths, and wherein the light source comprises optics for projecting the non-uniform pattern of the focal spots so that the pattern that is projected on the object varies with distance from the illumination assembly.
This 3D mapping apparatus, as described above where a non-uniform spot pattern is projected onto an object to create a 3D map, uses micro-lenses with varying focal lengths within the transparency. This variation causes the projected spot pattern to change its appearance as the distance from the illumination source increases. The projection optics are configured to ensure that this distance-dependent pattern variation is effectively utilized for depth estimation, allowing the system to capture more information about the object's shape.
3. The apparatus according to claim 1 , wherein the projected pattern has a duty cycle that is less than 1/e.
This 3D mapping apparatus, as described above where a non-uniform spot pattern is projected onto an object to create a 3D map, uses a projected pattern where the duty cycle (ratio of spot size to spot spacing) is less than 1/e (approximately 0.368). This low duty cycle creates a sparse pattern, improving the accuracy of spot detection and matching in the captured image, which leads to a more precise 3D reconstruction.
4. A method for mapping an object, comprising: using a light source, transilluminating a transparency containing a plurality of micro-lenses arranged in a non-uniform pattern, wherein the micro-lenses are configured to focus the optical radiation to form, at a focal plane, respective focal spots in the non-uniform pattern; projecting the non-uniform pattern of the focal spots from the focal plane onto the object; capturing an image of the non-uniform pattern that is projected onto the object; and processing the captured image so as to reconstruct a three-dimensional (3D) map of the object, wherein processing the captured image comprises finding respective offsets between the pattern of the spots on multiple areas of the object captured in the image of the pattern that is projected onto the object and another image of the pattern, and determining respective distances to the areas responsively to the respective offsets.
This 3D mapping method involves projecting a non-uniform pattern of spots onto an object, capturing an image, and processing it to generate a 3D map. The method shines light through a transparency containing micro-lenses arranged in a non-uniform pattern to create focused spots. These spots are then projected onto the object. An image of the distorted pattern is captured. The image is then processed by finding offsets (shifts) in the spot pattern across different areas of the object compared to a reference image. These offsets are used to determine the distances between the object and the camera, creating a 3D map.
5. The method according to claim 4 , wherein at least some of the micro-lenses have non-uniform focal lengths, and wherein transilluminating the transparency comprises projecting the non-uniform pattern of the focal spots so that the pattern that is projected on the object varies with distance from the transparency.
This 3D mapping method, as described above where a non-uniform spot pattern is projected onto an object to create a 3D map, uses micro-lenses with varying focal lengths. By shining light through the transparency, the resulting spot pattern changes its appearance as the distance from the source increases. Projecting the non-uniform focal spots in this way allows the pattern projected on the object to vary with distance, aiding in depth calculation for 3D reconstruction.
6. The method according to claim 4 , wherein the projected pattern has a duty cycle that is less than 1/e.
This 3D mapping method, as described above where a non-uniform spot pattern is projected onto an object to create a 3D map, uses a projected pattern where the duty cycle (ratio of spot size to spot spacing) is less than 1/e (approximately 0.368). This low duty cycle creates a sparse pattern, improving the accuracy of spot detection and matching in the captured image, which leads to a more precise 3D reconstruction.
7. Apparatus for mapping an object, comprising: an illumination assembly, comprising: a diffuser; a light source, which is configured to transilluminate the diffuser with optical radiation; a transparency containing an array of micro-lenses arranged in a non-uniform pattern, which are arranged to focus the optical radiation transmitted through the diffuser, thereby generating a non-uniform pattern of spots; and projection optics, which are arranged to project the pattern onto the object; an image capture assembly, which is configured to capture an image of the pattern that is projected onto the object using the transparency; and a processor, which is coupled to process the image captured by the image capture assembly so as to reconstruct a three-dimensional (3D) map of the object, wherein the processor is arranged to derive the 3D map by finding respective offsets between the pattern of the spots on multiple areas of the object captured in the image of the pattern that is projected onto the object and another image of the pattern, wherein the respective offsets are indicative of respective distances between the areas and the image capture assembly.
This 3D mapping apparatus projects a non-uniform pattern of spots onto an object and captures an image of the distorted pattern. An illumination assembly includes a diffuser, a light source shining through the diffuser, and a transparency with an array of micro-lenses arranged non-uniformly. The micro-lenses focus the diffused light, creating a non-uniform spot pattern. Projection optics then project this pattern onto the object. An image capture assembly (camera) captures the projected pattern. A processor analyzes the image to create a 3D map by finding offsets in the spot pattern across different areas of the object compared to a reference image. These offsets indicate distances between the object's surfaces and the camera.
8. The apparatus according to claim 7 , wherein the illumination assembly is configured to project the pattern so that the pattern varies with distance from the illumination assembly.
This 3D mapping apparatus, as described above where a non-uniform spot pattern is projected onto an object to create a 3D map, is configured to project the pattern so that the pattern's appearance varies with distance from the illumination assembly. This helps in determining depth, as the changes in the projected pattern provide additional information about the object's surface.
9. The apparatus according to claim 7 , wherein the projected pattern has a duty cycle that is less than 1/e.
This 3D mapping apparatus, as described above where a non-uniform spot pattern is projected onto an object to create a 3D map, uses a projected pattern where the duty cycle (ratio of spot size to spot spacing) is less than 1/e (approximately 0.368). This low duty cycle creates a sparse pattern, improving the accuracy of spot detection and matching in the captured image, which leads to a more precise 3D reconstruction.
10. A method for mapping an object, comprising: using a light source, transilluminating a diffuser with optical radiation; focusing the optical radiation transmitted through the diffuser using an array of micro-lenses arranged in a non-uniform pattern, thereby generating a non-uniform pattern of spots; projecting the pattern onto the object; capturing an image of the pattern that is projected onto the object; and processing the captured image so as to reconstruct a three-dimensional (3D) map of the object, wherein processing the captured image comprises finding respective offsets between the pattern of the spots on multiple areas of the object captured in the image of the pattern that is projected onto the object and another image of the pattern, and determining respective distances to the areas responsively to the respective offsets.
This 3D mapping method involves projecting a non-uniform pattern of spots onto an object, capturing an image, and processing it to generate a 3D map. A light source shines light through a diffuser, and then the diffused light is focused by an array of micro-lenses arranged in a non-uniform pattern, creating a spot pattern. The spot pattern is then projected onto the object. An image of the distorted pattern is captured. The image is processed to find offsets (shifts) in the spot pattern across different areas of the object. These offsets are used to determine the distances between the object and the camera, creating a 3D map.
11. The method according to claim 10 , wherein the projected pattern varies with distance from the array of micro-lenses.
This 3D mapping method, as described above where a non-uniform spot pattern is projected onto an object to create a 3D map, projects a pattern that changes its appearance with increasing distance from the micro-lens array. The pattern's variation with distance is utilized for depth estimation, enhancing the accuracy of 3D reconstruction.
12. The method according to claim 10 , wherein the projected pattern has a duty cycle that is less than 1/e.
This 3D mapping method, as described above where a non-uniform spot pattern is projected onto an object to create a 3D map, uses a projected pattern where the duty cycle (ratio of spot size to spot spacing) is less than 1/e (approximately 0.368). This low duty cycle creates a sparse pattern, improving the accuracy of spot detection and matching in the captured image, which leads to a more precise 3D reconstruction.
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April 2, 2008
July 23, 2013
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